\section*{\large Map Node}
\begin{normalsize}

The map node displays the robot knowledge of the world step by step, see the screenshot in figure \ref{fig:map_screenshot}.



\begin{figure}[!htb]
\centering
\includegraphics[scale=0.40]{./images/map_screenshot.jpg}
\caption{map screenshot \label{fig:map_screenshot}}
\end{figure}



\begin{itemize}



\item \textbf{put\_img}:
\begin{itemize}

    \item Inputs: 

     \begin{itemize}
     	 \item std::string filename: filename of img to be put in cell grid, for example nxt or cone
      	\item cv::Mat \& map\_img: grid of cells
      	\item int row: row defining cell
      	\item int col: col defining cell
     \end{itemize}
  
    \item Description: Put img in grid cell
 \end{itemize}



\item \textbf{put\_text}:
\begin{itemize}
   
    \item Inputs: 

     \begin{itemize}
      	\item std::string text: text to be written, for example START or END
      	\item cv::Mat \& map\_img: grid of cells
      	\item int row: row defining cell
      	\item int col: col defining cell
     \end{itemize}

	 \item Description: Put text in grid cell

\end{itemize}



\item \textbf{fill\_with\_color}:
\begin{itemize}
    
    \item Inputs: 

     \begin{itemize}
      	\item cv::Mat \& map\_img: grid of cells
      	\item int row: row defining cell
      	\item int col: col defining cell
      	\item cv::Scalar s: color used to fill, for example cv::Scalar(0,255,0) is green
     \end{itemize}

	\item Description: Fill grid cell with color

\end{itemize}



\item \textbf{init\_map}:
\begin{itemize}
    
       \item Inputs: 

     \begin{itemize}
      	\item cv::Mat \& map\_img: grid of cells
      	\item int rows: number of rows
      	\item int cols: number of cols
     \end{itemize}

	\item Description: Fill all cells with color

\end{itemize}



\item \textbf{fill\_map}:
\begin{itemize}
    
      \item Inputs: 

     \begin{itemize}
      	\item cv::Mat\& map\_img: grid of cells representing map
      	\item int rows: number of rows
      	\item int cols: number of cols
      	\item std::vector$<$int$>$ \& world\_map\_vec: vector representing map to be drawn
      	\item int nxt\_pos: robot position
     \end{itemize}

	\item Description: Fill map with START, END, robot and obstacles

\end{itemize}





\end{itemize}

\end{normalsize}